Table REF  shows the results of CaDDN on the KITTI [1]} test set compared to state-of-the-art published monocular methods, listed in rank order of performance on the Car class at the Moderate difficulty setting. We note that our method outperforms previous single frame methods by large margins on \(\mathrm {AP}|_{R_{40}}\)  of +2.40%, +1.69%, and +1.29% on the Car class on the Easy, Moderate, and Hard difficulties respectively. Additionally, CaDDN ranks higher than the multi-frame method Kinematic3D [2]}. Our method also outperforms the previous state-of-the art method on the Pedestrian class MonoPair [3]} with margins on \(\mathrm {AP}|_{R_{40}}\)  of +2.85%, +1.46%, and +1.23%. Our method achieves second place on the Cyclist class with margins on \(\mathrm {AP}|_{R_{40}}\)  of -1.37%, -1.33%, and -0.38% relative to MonoPSR [4]}.
